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Fix empty scene issue of interacting in VR with added objects (#249) #322

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Fix empty scene issue of interacting in VR with added objects (#249) #322

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11 changes: 11 additions & 0 deletions igibson/scenes/empty_scene.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
import logging
import os
from collections import defaultdict

import numpy as np
import pybullet as p
Expand All @@ -20,6 +21,8 @@ class EmptyScene(Scene):
def __init__(self, render_floor_plane=True, floor_plane_rgba=[1.0, 1.0, 1.0, 1.0]):
super(EmptyScene, self).__init__()
self.objects = []
self.objects_by_category = defaultdict(list)
self.objects_by_id = {}
self.render_floor_plane = render_floor_plane
self.floor_plane_rgba = floor_plane_rgba

Expand All @@ -29,6 +32,14 @@ def get_objects(self):
def _add_object(self, obj):
self.objects.append(obj)

if obj.category not in self.objects_by_category.keys():
self.objects_by_category[obj.category] = []
self.objects_by_category[obj.category].append(obj)

if obj.get_body_ids() is not None:
for id in obj.get_body_ids():
self.objects_by_id[id] = obj

def _load(self, simulator):
plane_file = os.path.join(pybullet_data.getDataPath(), "mjcf/ground_plane.xml")
self.floor_body_ids += [p.loadMJCF(plane_file)[0]]
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